Motion Planning

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Motion Planning

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What are two ways to represent motion planner to vehicle actuator output ? *

1 point

Exact values of steering, acceleration, turning rate

Final destination represented in GNSS coordinates

Sequence of states that transformed by vehicle actuation system

Trajectory drawn on hd-map

Required

Which layer of motion planner uses most complex and heuristic-based algorithms? *

1 point

Operational

Tactical

Strategical

Logistical

What are the inputs route planner uses to create route from A to B? *

1 point

Map

Satellite imagery

Current position of the car

Traffic jam information

Required

What is the name of the algorithm route planner uses? *

1 point

Dijkstra

Floyd-Warshall

Is numerical optimization the main method to solve trajectory generation/path planning problem? *

1 point

True

False

What are the main scenarios that modify the process of trajectory selection/behavior planning? *

1 point

Vehicle following

Turn making

Cruising

Stopping

Required

What are the common methods to implement trajectory selection/behavior planning?

1 point

Cost based heuristics

Finite state machines

Convolutional neural networks

Random coin toss

What are the most important factors determining the generated trajectory cost? *

1 point

Deviation from planned route, deviation from target speed

Panorama beauty, flying birds number

Collision chance, acceleration limits, legal limits

What are the common values encoded in trajectory points/states generated by trajectory/path planner? *

1 point

Target rotational matrix

Estimated timestamp

2D coordinates

Target speed

Required

Are Cartesian coordinates the only way to encode 2D coordinates for path planning? *

1 point

True

False

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